cmake_minimum_required(VERSION 3.5)
project(control)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(base_interfaces REQUIRED)
find_package(control_base REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(OpenCV REQUIRED)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  #set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

add_definitions(-DMAP_TRANSFORMATION_PATH="${CMAKE_CURRENT_LIST_DIR}/config/MapTransFormation.yaml")
add_definitions(-DMAP_STD_SRC_PATH="${CMAKE_CURRENT_LIST_DIR}/config/std_map.png")

add_executable(control_node
  src/ControlNode.cpp
)

add_executable(ControlTest
  test/ControlTest.cpp
)
add_executable(SendGoalTest
  test/SendGoalTest.cpp
)

# add_executable(OfflineTest
#   test/offlineTest.cpp
# )mapAlign
add_executable(mapAlign
  test/MA2.cpp
)

add_library(control SHARED
    include/control/WMJRobotControl.h
    src/Gimbal.cpp
    src/Chassis.cpp
    src/Shooter.cpp
    src/Communicate.cpp
    src/Judge.cpp
) 
# 添加头文件地址
target_include_directories(control PUBLIC
    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
    $<INSTALL_INTERFACE:include>
)

ament_target_dependencies(control
    PUBLIC
    rclcpp
    OpenCV
    control_base
    geometry_msgs
    base_interfaces
    tf2
    tf2_ros
)

ament_target_dependencies(ControlTest
    rclcpp
    base_interfaces
)
ament_target_dependencies(SendGoalTest
    rclcpp
    base_interfaces
)

# ament_target_dependencies(OfflineTest
#     rclcpp
#     base_interfaces
# )

ament_target_dependencies(mapAlign
    rclcpp
    OpenCV
    geometry_msgs
)
target_link_libraries(control_node control)

# 为了使下游文件可以访问
ament_export_targets(control HAS_LIBRARY_TARGET)
ament_export_dependencies(
    rclcpp
    OpenCV
    control_base
    geometry_msgs
    base_interfaces
)

# 注册 导出头文件
install(
  DIRECTORY include/
  DESTINATION include
)
# 注册 导出库文件
install(
    TARGETS control
    EXPORT control
    ARCHIVE DESTINATION lib
    LIBRARY DESTINATION lib
    RUNTIME DESTINATION bin
    INCLUDES DESTINATION include
)

install(TARGETS 
  control_node
  ControlTest
  SendGoalTest
  # OfflineTest
  mapAlign
  DESTINATION lib/${PROJECT_NAME})

install(DIRECTORY
  launch 
  DESTINATION share/${PROJECT_NAME}
)
ament_package()
